The Transport Layer Security (TLS) protocol is widely used for protecting end-to-end communications between network peers (applications or nodes). However, the administrators usually have to configure parameters (e.g., cryptography algorithms or authentication credentials) to establish TLS connections manually. However, this way of managing security connections becomes infeasible when the number of network peers is high. This paper proposes a TLS management framework that configures and manages TLS connections in a dynamic and autonomous manner. The solution is based on well-known standardized protocols and models that allow providing the necessary configuration parameters to establish a TLS connection between two network nodes. Nowadays, this is required in several application scenarios such as virtual private networks, virtualized network functions, or service function chains. Our framework is based on standard elements of the Software Defined Networking paradigm, widely adopted to provide flexibility to network management, such as for the scenarios aforementioned. The proposed framework has been implemented in a proof of concept to validate the suitability of the proposed solution to manage the dynamic configuration of TLS connections. The experimental results confirm that the implementation of this framework enables an operable and flexible procedure to manage TLS connections between network nodes in different scenarios.